WO2019063470A1 - Procédé pour faire fonctionner un système de ceinture de sécurité - Google Patents

Procédé pour faire fonctionner un système de ceinture de sécurité Download PDF

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Publication number
WO2019063470A1
WO2019063470A1 PCT/EP2018/075769 EP2018075769W WO2019063470A1 WO 2019063470 A1 WO2019063470 A1 WO 2019063470A1 EP 2018075769 W EP2018075769 W EP 2018075769W WO 2019063470 A1 WO2019063470 A1 WO 2019063470A1
Authority
WO
WIPO (PCT)
Prior art keywords
occupant
webbing
seat
threshold
account
Prior art date
Application number
PCT/EP2018/075769
Other languages
German (de)
English (en)
Inventor
Michael Stegmeier
Original Assignee
Trw Automotive Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Trw Automotive Gmbh filed Critical Trw Automotive Gmbh
Priority to US16/649,264 priority Critical patent/US20200216005A1/en
Priority to CN201880062972.XA priority patent/CN111148661A/zh
Publication of WO2019063470A1 publication Critical patent/WO2019063470A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01512—Passenger detection systems
    • B60R21/01544—Passenger detection systems detecting seat belt parameters, e.g. length, tension or height-adjustment
    • B60R21/01548—Passenger detection systems detecting seat belt parameters, e.g. length, tension or height-adjustment sensing the amount of belt winded on retractor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01554—Seat position sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/48—Control systems, alarms, or interlock systems, for the correct application of the belt or harness
    • B60R2022/4808—Sensing means arrangements therefor
    • B60R2022/4825—Sensing means arrangements therefor for sensing amount of belt winded on retractor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01504—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use detecting bag displacement

Definitions

  • the invention relates to a method for operating a safety belt system for an occupant in a vehicle.
  • the object of the invention is to provide a method for operating a safety belt system, which ensures an improved protective effect.
  • the seat belt system comprises a webbing for restraining the occupant, a buckle for closing theparticularlygutsystems and a sensor for detecting the webbing extension.
  • a reaction is initiated when the webbing extension exceeds a threshold.
  • the minimum belt webbing pull-out threshold is taken into account after closing the buckle.
  • the webbing pull-out is the one which the webbing is pulled out or unwound from the belt reel in comparison to a reference value.
  • the reference value may be, for example, the position of the webbing that it has in the position-stable position in which the webbing is provided in the vehicle for the occupant to take off.
  • the threshold will adjust or calibrate the seat belt system to the occupant, that is, the occupant's body shape or circumference will be considered in the threshold. In this way, an individually tailored to the occupant threshold and thus an improved protective effect can be provided.
  • the belt extension is usually minimal. Any change in the occupant's position relative to the optimum seating position, for example, because the occupant leans forward or because the occupant continues to pull the webbing so that the webbing is not taut on his body, thus leading to a higher webbing extension.
  • excessive inactivity of the occupant or misalignment of the webbing causes the webbing extension exceeds the threshold and a reaction is triggered. By means of the reaction, this incorrect positioning or incorrect positioning can be corrected. In this way, the position of the occupant is improved relative to the safety belt system and thus increases the protective effect of the safety belt system in the case of restraint.
  • the threshold takes into account the minimum webbing extension within 30 seconds, preferably within 20 seconds, in particular within 10 seconds after closing the buckle.
  • the idea behind this is that occupants shortly after buckling, that is closing the buckle, at least temporarily assume the optimum sitting position, before they later differ, for example, for comfort or fatigue of this.
  • the threshold value is at least as close as possible to the optimum threshold value which corresponds to the threshold value taking into account the optimum seating position.
  • the threshold may take into account the minimum webbing extension after closure of the buckle continuously, for example at a frequency of 100 Hz In this way, the threshold value can be updated and thus improved over the entire time in which the occupant is strapped on, a reduced Gurtbandauszug after buckling. This improves the accuracy of when a response is triggered.
  • the threshold value can take into account the seating position, in particular the upper body position, of the occupant by means of a sensor.
  • a sensor for example, a camera or a (pressure) sensor can be provided in the backrest.
  • the threshold value and thus the protective effect of the seatbelt system can be improved, for example by correspondingly reducing the occupant's stance in order to be able to correct this (mis) posture by a reaction before the occupant is the first time leaned back.
  • the threshold the sitting position of the seat of the occupant, the sitting position of the seat, which is arranged in front of the seat of the occupant in the vehicle and / or takes into account the position of a steering wheel, which is arranged in front of the seat of the occupant in the vehicle.
  • the relative position of the occupant to his environment in the threshold value can be taken into account, for example, it can be ensured that the occupant does not collide with the steering wheel or the front seat in the case of restraint.
  • the threshold may take into account the location of an airbag or the locations of multiple airbags. In this way it can be ensured that a reaction is always triggered when the position of the occupant relative to a gas bag leads to a reduced protective effect.
  • the threshold value can take into account the position of a gas bag, which is arranged opposite the occupant in the direction of travel. In this way it can be ensured that a reaction is always triggered when the occupant is too close to the gas bag, which in the case of restraint is provided primarily for the impact of the occupant. Thus, it can be prevented, for example, that the gas bag already applies to the occupant before the complete deployment, instead of the occupant dipping into the already expanded gas bag.
  • the response which is triggered when the threshold is exceeded, may include the emission of an acoustic and / or optical signal by means of an output device in order to transmit information to the occupant.
  • an output device for example, speakers or a display can be provided, which are already present in particular in the vehicle and can have other functions. In this way, the occupant can be informed that his sitting position deviates too far from the optimum sitting position, so that the occupant can correct his sitting position.
  • the reaction may include activating a pretensioner to tighten the webbing so that the retention force of the webbing is increased.
  • the restraining force here is the tensile force with which the webbing is pulled in the direction of the belt reel. This means that the pressure that the webbing exerts on the occupant is increased, so that the occupant may be required, for example, with little pulling force, to adjust his sitting position.
  • a change in position of the occupant can be forced with higher tensile force, for example, to raise a sleeping person and move to a safe position.
  • the restraint force of the webbing can be increased by a fixed, a temporally steadily increasing or a temporally fluctuating value. If the retention force of the webbing is increased by a time-varying value, Thus, force pulses are introduced into the webbing, which perceives the occupant as pressure changes. About the strength and the course of the change of the restraint force the occupant can be conveyed in different ways calls for adjusting his seating position. For example, the request may be more compulsory when a crash is imminent than when the vehicle is stationary.
  • Occupants are operated on a driver's seat of a motor vehicle
  • FIG. 1 shows a safety belt system 10 for an occupant 12 in a motor vehicle 14.
  • the occupant 12 sits on a driver's seat 16 of the motor vehicle 14.
  • a steering wheel 18 of the motor vehicle 14 is arranged.
  • the safety belt system 10 comprises a belt 20 with a belt tongue 22, a belt reel 24 on which the belt 20 is partially wound and which exerts a tensile force on the belt 20, and a buckle 26 with which the belt tongue 22 can lock.
  • the webbing 20 serves to restrain the occupant 12 in the driver's seat 16 when the buckle 26 is closed.
  • the buckle 26 is closed by the belt tongue 22 is inserted into the buckle 26 and locked with this.
  • a bobbin rotation sensor 28 is provided, by means of which the axis rotation of the belt reel 24 and thus the webbing extension of the webbing 20 is detected in a known manner.
  • the safety belt system 10 further comprises a belt tensioner 30, which is provided for tightening the webbing 20 or winding the webbing 20 on the belt reel 24.
  • the driver's seat 16 has a backrest 32 with a pressure sensor 34 which is adapted to detect whether the occupant 12 is leaning against the backrest 32.
  • driver's seat 16 and the backrest 32 in the usual manner adjustable and positionable in the motor vehicle 14. During adjustment of the driver's seat 16, one embodiment of the method may be suspended for the duration of the adjustment.
  • an airbag 36 is provided in the steering wheel 18, which can be triggered in a crash in a known manner.
  • the motor vehicle 14 comprises a display 38, by means of which the occupant 12 information can be provided optically. Additionally or alternatively, a loudspeaker may be provided in the motor vehicle 14, by means of which the occupant 12 information can be provided acoustically. Furthermore, a camera 40 is provided in the motor vehicle 14, which is set up to determine the posture or the sitting position of the occupant 12.
  • the driver's seat 16, the buckle 26, the coil rotation sensor 28, the belt tensioner 30, the pressure sensor 34, the airbag 36, the display 38 and the camera 40 are signal-transmitting connected to the on-board computer (not shown) of the motor vehicle 14.
  • the on-board computer is set up to control the aforementioned systems and to carry out the following method of operating the safety belt system 10.
  • a separate control for carrying out the method for operating the safety belt system 10 may be provided, which is signal-transmitting connected at least to the buckle 26 and the coil rotation sensor 28.
  • the occupant 12 is shown in an optimal seating position, which is characterized in that the occupant 12 in an upright posture with his upper body 42 ajar against the backrest 32 sits in the driver's seat 16. In this position, the occupant 12 is ideally protected by the safety belt system 10.
  • the occupant 12 is shown in a sitting position in which the occupant 12 is bent forward to the steering wheel 18.
  • the upper body 42 of the occupant 12 is removed from the backrest 32, resulting in that the webbing 20 is extended further than in the optimum sitting position (see Figure 1).
  • this seating position the protection of the occupant 12 by the safety belt system 10 is reduced.
  • a seating position in which the protective effect of the safety belt system 10 is significantly reduced is referred to as a critical seating position and is characterized in that the Gurtbandauszug is greater than a certain threshold.
  • the on-board computer monitors the webbing extension after the buckle 26 has been closed.
  • the closing of the buckle 26 indicates to the on-board computer that the occupant 12 has taken seat on the driver's seat 16 and is strapped to the webbing 20.
  • the buckle 26 may include a sensor that communicates the closed state of the buckle 26 to the on-board computer.
  • the buckle 26 determines the on-board computer with a frequency of 100 Hz, the current Gurtbandauszug.
  • the frequency can be arbitrary, with which the on-board computer determines the current belt extension.
  • the on-board computer sets the threshold, which represents a critical seating position.
  • the following formula applies to the threshold:
  • Threshold minimum webbing extension + allowable distance.
  • the minimum webbing pull-out represents the smallest measured value for the webbing pull-out since the buckle 26 was closed. The value is measured and updated over the entire duration that the buckle 26 is closed. Alternatively, the value can be measured and updated in a limited time window, in particular directly after closing the buckle 26. The time window is for example 10, 20 or 30 seconds long.
  • the allowable distance indicates the length of the webbing 20 that can be extended without occupant 12 reaching a critical seating position.
  • the permissible distance defines the "free space” granted to the occupant 12 and within which no response is triggered
  • the permissible distance and thus the threshold may depend on various parameters, for example, for which seat in the vehicle the seat belt system 10 is provided and how other protective devices, such as gas bags, are arranged relative to this seat, in particular the position of a gas bag 36, which is arranged in front of the occupant 12 in the direction of travel F, can be taken into account.
  • the permissible distance may depend on how the sitting position of the driver's seat 16 and / or how the position of the steering wheel 18 is.
  • the posture of the occupant 12 by means of the camera 40 and / or the pressure sensor 34 in the allowable distance can be taken into consideration.
  • the allowable distance may also depend on the current speed of the motor vehicle 14, for example by decreasing the allowable distance at a higher speed.
  • the permissible distance is 250 mm.
  • the allowable distance may have any value, which preferably at least partially takes into account the above-mentioned parameters.
  • the reaction is to prompt the occupant 12 via the display 38 by a flashing icon to assume the optimum sitting position.
  • the belt tensioner 30 is activated, whereby the force is increased increasing, which acts on the occupant 12 through the webbing 20.
  • the maximum force is limited so as not to injure the occupant 12.
  • the force be increased by a fixed value, in stages or by a fluctuating value.
  • the reaction can be initiated only when the threshold is exceeded for a certain period of time, for example 2 seconds. In this way, short-term posture changes, as is common in driving, do not result in a response, such as a shoulder glance of the driver or when a passenger steers clear of something off the foot area.
  • the occupant 12 is visually informed immediately after exceeding the threshold value via the display 38. If the threshold does not fall below again within 2 seconds, the on-board computer activates the belt tensioner 30 and thus increases the pressure of the belt 20 on the occupant 12. It can also be provided that in certain driving situations, no reaction is triggered, for example when reversing, in which the driver usually takes a posture that allows him a better view, but deviates greatly from the optimal seating position. This can also be provided in the adjustment of the driver's seat, in particular in longitudinal displacement and / or changing the backrest angle.
  • the occupant 12 is informed when his sitting position is in a critical area and thereby the protective effect of the safety belt system 10 is reduced relevant.
  • the occupant 12 has the opportunity to correct his own sitting position and thereby increase his safety.
  • the posture of the occupant 12 can be gently corrected with little force.
  • the occupant 12 can be automatically moved to an upright position with greater force.
  • the safety effect of the safety belt system 10 is thus improved with the method.
  • the method may be used for safety belt systems 10 of any seats in a vehicle to increase the safety of the occupants 12.
  • FIGS. 3 and 4 show, by way of example for a further embodiment, a safety belt system 10 for a rear seat 44 in the motor vehicle 14, which only differs in detail from the safety belt system 10 from FIGS. 1 and 2.
  • a safety belt system 10 for a rear seat 44 in the motor vehicle 14 which only differs in detail from the safety belt system 10 from FIGS. 1 and 2.
  • corresponding reference numerals are therefore assigned below.
  • the rear seat 44 is arranged behind a front seat 46 in the motor vehicle 14, which may be, for example, the driver's seat 16.
  • the backrest 48 of the front seat 46 is arranged with its rear side 50 opposite the occupant 12 and comprises an airbag 36 which is provided for the occupant 12 in the rear seat 44.
  • a display 38 is arranged in the headrest 52 of the front seat 46 and thus in the field of view of the occupant 12.
  • the seat belt system 10 is again connected to the on-board computer which executes the previously described method of operating the seat belt system 10. That is, the occupant 12 exits his or her optimum sitting position as shown in FIG. 3, for example, to flex forward (see FIG. 4), and this causes the belt pullout to exceed the threshold, initiates a response to the occupant 12 inform or correct the critical seating position.
  • the seat position of the rear seat 44 and the sitting position of the front seat 46 are taken into account when determining the threshold value in order to take into account the relative arrangement of the seats 44, 46 and in particular the backrests 32, 48 to one another.
  • This ensures that the free space provided to the occupant 12 takes into account the environment of the occupant 12, so that this is not endangered by the airbag 36, for example.
  • the proposed method improves the safety of the occupant 12 in the rear seat 44.
  • the invention is not limited to the embodiments shown. In particular, individual features of an embodiment may be independent of be included in the other features of the corresponding embodiment in a further embodiment of the invention, ie the features described can be combined as desired.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Air Bags (AREA)
  • Automotive Seat Belt Assembly (AREA)

Abstract

L'invention concerne un procédé permettant de faire fonctionner un système de ceinture de sécurité (10) pour un passager (12) d'un véhicule (14). Ledit système de ceinture de sécurité comprend une sangle destinée à retenir le passager (12), une boucle de ceinture (26) et un capteur (28) destiné à détecter le déroulement de la sangle. Ledit procédé induit une réaction lorsque le déroulement de la sangle passe au-dessus d'une valeur seuil qui tient compte du déroulement minimal de la sangle après bouclement de la boucle de la ceinture (26).
PCT/EP2018/075769 2017-09-29 2018-09-24 Procédé pour faire fonctionner un système de ceinture de sécurité WO2019063470A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US16/649,264 US20200216005A1 (en) 2017-09-29 2018-09-24 Method for operating a safety belt system
CN201880062972.XA CN111148661A (zh) 2017-09-29 2018-09-24 用于运行安全带系统的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017122688.5 2017-09-29
DE102017122688.5A DE102017122688A1 (de) 2017-09-29 2017-09-29 Verfahren zum Betrieb eines Sicherheitsgurtsystems

Publications (1)

Publication Number Publication Date
WO2019063470A1 true WO2019063470A1 (fr) 2019-04-04

Family

ID=63722359

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/075769 WO2019063470A1 (fr) 2017-09-29 2018-09-24 Procédé pour faire fonctionner un système de ceinture de sécurité

Country Status (4)

Country Link
US (1) US20200216005A1 (fr)
CN (1) CN111148661A (fr)
DE (1) DE102017122688A1 (fr)
WO (1) WO2019063470A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11491940B2 (en) 2019-04-19 2022-11-08 GM Global Technology Operations LLC System and method for detecting improper posture of an occupant using a seatbelt restraint system

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Publication number Priority date Publication date Assignee Title
DE102017009573B4 (de) * 2017-10-14 2020-03-12 Audi Ag Verfahren zum Betreiben eines Sicherheitssystems für ein Kraftfahrzeug, Sicherheitssystem und Kraftfahrzeug
US20230052692A1 (en) * 2019-12-31 2023-02-16 Zf Automotive Germany Gmbh Method for a safety belt system, safety belt system for a vehicle, and vehicle with a safety belt system
DE102019135915A1 (de) * 2019-12-31 2021-07-01 Zf Automotive Germany Gmbh Verfahren für ein Sicherheitsgurtsystem, Sicherheitsgurtsystem für ein Fahrzeug und Fahrzeug mit einem Sicherheitsgurtsystem
DE102019135925A1 (de) * 2019-12-31 2021-07-01 Zf Automotive Germany Gmbh Verfahren für ein Sicherheitsgurtsystem, Sicherheitsgurtsystem für ein Fahrzeug und Fahrzeug mit einem Sicherheitsgurtsystem
DE102019135914A1 (de) * 2019-12-31 2021-07-01 Zf Automotive Germany Gmbh Verfahren für ein Sicherheitsgurtsystem, Sicherheitsgurtsystem für ein Fahrzeug und Fahrzeug mit einem Sicherheitsgurtsystem
DE102019135919A1 (de) * 2019-12-31 2021-07-01 Zf Automotive Germany Gmbh Verfahren für ein Sicherheitsgurtsystem, Sicherheitsgurtsystem für ein Fahrzeug und Fahrzeug mit einem Sicherheitsgurtsystem
DE102019135916A1 (de) * 2019-12-31 2021-07-01 Zf Automotive Germany Gmbh Verfahren für ein Fahrzeuginsassen-Schutzsystem, Fahrzeuginsassen-Schutzsystem und Fahrzeug mit einem Fahrzeuginsassen-Schutzsystem
DE102022002865A1 (de) * 2022-08-08 2024-02-08 Mercedes-Benz Group AG Verfahren und Vorrichtung zur Ausgabe eines Warnhinweises und Fahrzeug
DE102023103210A1 (de) * 2023-02-09 2024-08-14 Audi Aktiengesellschaft Vorrichtung zur Aktivierung/Deaktivierung einer Airbagfunktion in einem Fahrzeug
DE102023001469A1 (de) 2023-04-14 2023-06-01 Mercedes-Benz Group AG Verfahren zum Betrieb einer Insassenschutzvorrichtung, Insassenschutzvorrichtung und Fahrzeug mit einer solchen Insassenschutzvorrichtung

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Publication number Priority date Publication date Assignee Title
WO1996030235A1 (fr) * 1995-03-30 1996-10-03 Automotive Systems Laboratory, Inc. Systeme electronique tensionneur de ceintures de securite
WO2005044637A1 (fr) * 2003-10-08 2005-05-19 Robert Bosch Gmbh Dispositif permettant de determiner la position d'un passager d'un vehicule
WO2007092307A2 (fr) * 2006-02-03 2007-08-16 Tk Holdings Inc. Système et procédé de commande de ceinture de sécurité
WO2009003698A1 (fr) * 2007-07-04 2009-01-08 Autoliv Development Ab Procédé de commande d'un dispositif tendeur d'un système de ceinture de sécurité
DE102015005035A1 (de) * 2015-04-21 2015-12-17 Daimler Ag Verfahren zum Betrieb einer Sicherheitsgurtvorrichtung
DE102015007557A1 (de) * 2015-06-16 2016-12-22 Trw Automotive Gmbh Verfahren und Vorrichtung zur Bestimmung der Auszugslänge eines auf einer drehbaren Gurtspule aufgewickelten Gurtbands

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11491940B2 (en) 2019-04-19 2022-11-08 GM Global Technology Operations LLC System and method for detecting improper posture of an occupant using a seatbelt restraint system

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Publication number Publication date
US20200216005A1 (en) 2020-07-09
CN111148661A (zh) 2020-05-12
DE102017122688A1 (de) 2019-04-04

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